Abstract. The strength of the front axle of tractors used on rough terrain is crucial in countries in which agriculture is widespread. Rough agricultural fields, rugged village roads, and ground irregularities cause unexpected reaction forces on the axles. Thus, it is important to analyze the front axle of a tractor with respect to stress, which eventually leads to cracks and premature failure. In this study, ANSYS 13.0 finite element analysis (FEA) software (ANSYS, 2010) was used to predict the strength of a design under loading conditions. ANSYS 13.0 allows products to be tested in a virtual environment and helps to prevent problems that may arise later and accordingly improve them. This study aims to investigate the stresses that occur on the housing of the front axle of a tractor. The reaction forces acting on the front axle housing can cause cracks near the middle of the housing. The study applies a static load of 30 000 N to both hubs at the end of the front axle housing and uses the FEA method to predict and evaluate the maximum stress areas on the housing. Strain gauges are bonded to these locations to measure the real-life stresses on the axle housing in these areas. The results of the FEA and strain gauge measurements were compared, and a correlation was found with 98 % accuracy.
{"title":"Comparison of finite element analysis results with strain gauge measurements of a front axle housing","authors":"Yılmaz Gür, Gökhan Cen","doi":"10.5194/ms-15-257-2024","DOIUrl":"https://doi.org/10.5194/ms-15-257-2024","url":null,"abstract":"Abstract. The strength of the front axle of tractors used on rough terrain is crucial in countries in which agriculture is widespread. Rough agricultural fields, rugged village roads, and ground irregularities cause unexpected reaction forces on the axles. Thus, it is important to analyze the front axle of a tractor with respect to stress, which eventually leads to cracks and premature failure. In this study, ANSYS 13.0 finite element analysis (FEA) software (ANSYS, 2010) was used to predict the strength of a design under loading conditions. ANSYS 13.0 allows products to be tested in a virtual environment and helps to prevent problems that may arise later and accordingly improve them. This study aims to investigate the stresses that occur on the housing of the front axle of a tractor. The reaction forces acting on the front axle housing can cause cracks near the middle of the housing. The study applies a static load of 30 000 N to both hubs at the end of the front axle housing and uses the FEA method to predict and evaluate the maximum stress areas on the housing. Strain gauges are bonded to these locations to measure the real-life stresses on the axle housing in these areas. The results of the FEA and strain gauge measurements were compared, and a correlation was found with 98 % accuracy.\u0000","PeriodicalId":502917,"journal":{"name":"Mechanical Sciences","volume":"4 12","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140666142","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract. This paper investigates the dynamic modeling and performance analysis of the 2PRU-PUU reconfigurable parallel mechanism (RPM); here, P, R, and U denote the prismatic, revolute, and universal joints, respectively. By altering one of the rotation axes of the reconfigurable universal joint in limb 3, the mechanism can be switched into two operation modes, 1R2T and 2R1T. The authors resort to the Lagrangian equations of the first kind to derive the dynamic model of the 2PRU-PUU RPM. The optimal driving force distribution is determined to solve the problem of the non-uniqueness solution in dynamic analysis. The dynamic formulations are verified with the results obtained in ADAMS software. The dynamic manipulability ellipsoid index, which offers a quantitative assessment of the ability in manipulating the end effector, is used to assess the dynamic performance of the mechanism. Then, the distribution characteristics of the rotational and translational dynamic performance of the RPM are derived.
{"title":"Dynamic modeling and performance analysis of the 2PRU-PUU parallel mechanism","authors":"Tianze Sun, Wei Ye, Chao Yang, Fengli Huang","doi":"10.5194/ms-15-249-2024","DOIUrl":"https://doi.org/10.5194/ms-15-249-2024","url":null,"abstract":"Abstract. This paper investigates the dynamic modeling and performance analysis of the 2PRU-PUU reconfigurable parallel mechanism (RPM); here, P, R, and U denote the prismatic, revolute, and universal joints, respectively. By altering one of the rotation axes of the reconfigurable universal joint in limb 3, the mechanism can be switched into two operation modes, 1R2T and 2R1T. The authors resort to the Lagrangian equations of the first kind to derive the dynamic model of the 2PRU-PUU RPM. The optimal driving force distribution is determined to solve the problem of the non-uniqueness solution in dynamic analysis. The dynamic formulations are verified with the results obtained in ADAMS software. The dynamic manipulability ellipsoid index, which offers a quantitative assessment of the ability in manipulating the end effector, is used to assess the dynamic performance of the mechanism. Then, the distribution characteristics of the rotational and translational dynamic performance of the RPM are derived.\u0000","PeriodicalId":502917,"journal":{"name":"Mechanical Sciences","volume":" 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140690120","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract. Time-varying reliability assessment of parallel systems of beam structures with crack defects is of great importance for structural safety evaluation. In this paper, time-varying reliability models for parallel systems with cracked beams are proposed. In the modeling process, the statistical correlation between crack depth, random working load, random strength degradation, and random stress response as well as the complex failure correlation jointly caused by these factors are considered. Based on the finite element analysis of the cracked beams, the reliability models are constructed by combining the neural network and the response surface agent model. The validity of the model is verified by the Monte Carlo simulation method. The results show that crack depth and working load dispersion have important effects on reliability and failure correlation.
{"title":"Time-varying reliability models for parallel systems consisting of beam structures with crack flaws","authors":"Peng Gao, Liyang Xie","doi":"10.5194/ms-15-237-2024","DOIUrl":"https://doi.org/10.5194/ms-15-237-2024","url":null,"abstract":"Abstract. Time-varying reliability assessment of parallel systems of beam structures with crack defects is of great importance for structural safety evaluation. In this paper, time-varying reliability models for parallel systems with cracked beams are proposed. In the modeling process, the statistical correlation between crack depth, random working load, random strength degradation, and random stress response as well as the complex failure correlation jointly caused by these factors are considered. Based on the finite element analysis of the cracked beams, the reliability models are constructed by combining the neural network and the response surface agent model. The validity of the model is verified by the Monte Carlo simulation method. The results show that crack depth and working load dispersion have important effects on reliability and failure correlation.\u0000","PeriodicalId":502917,"journal":{"name":"Mechanical Sciences","volume":"24 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140723614","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Sen Qian, Jianxi Zhang, Zongkun Pei, Xiantao Sun, Zhe Wu
Abstract. A flexible endoscopic robot is designed to solve the problem that it is difficult for auxiliary doctors to maintain a stable visual field in traditional endoscopic surgery. Based on geometric derivation, a motion control method under the constraint of the remote center motion (RCM) of the robot system is established, and a set of circular trajectories are planned for it. The RCM error of the robot during operation and the actual trajectory of the robot end in three-dimensional space are obtained through the motion capture system. The end of the robot is controlled by the heterogeneous primary–secondary teleoperation control algorithm based on position increments. Finally, the RTMDet deep learning object detection algorithm was selected to identify and locate surgical instruments through comparative experiments, and the autonomous tracking control was completed based on visual guidance. In the process of autonomous tracking, the RCM error was less than 1 mm, which met the actual surgical requirements.
{"title":"Development of a flexible endoscopic robot with autonomous tracking control ability using machine vision and deep learning","authors":"Sen Qian, Jianxi Zhang, Zongkun Pei, Xiantao Sun, Zhe Wu","doi":"10.5194/ms-15-223-2024","DOIUrl":"https://doi.org/10.5194/ms-15-223-2024","url":null,"abstract":"Abstract. A flexible endoscopic robot is designed to solve the problem that it is difficult for auxiliary doctors to maintain a stable visual field in traditional endoscopic surgery. Based on geometric derivation, a motion control method under the constraint of the remote center motion (RCM) of the robot system is established, and a set of circular trajectories are planned for it. The RCM error of the robot during operation and the actual trajectory of the robot end in three-dimensional space are obtained through the motion capture system. The end of the robot is controlled by the heterogeneous primary–secondary teleoperation control algorithm based on position increments. Finally, the RTMDet deep learning object detection algorithm was selected to identify and locate surgical instruments through comparative experiments, and the autonomous tracking control was completed based on visual guidance. In the process of autonomous tracking, the RCM error was less than 1 mm, which met the actual surgical requirements.\u0000","PeriodicalId":502917,"journal":{"name":"Mechanical Sciences","volume":"41 22","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140752006","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract. In this paper, a novel series three-axis stable platform (STSP) is proposed, and its azimuth angle structure, pitch angle structure, roll angle structure, overall system structure scheme, and control scheme are designed. The platform is a universal one. The forward and inverse kinematics and dynamics models of the STSP pitch-and-roll mechanisms are established, and the motion rules of the platform and the force conditions of the main components are analyzed. Establish a mathematical model of the platform control system, analyze the performance of the pitch-and-roll system of the STSP, propose a position velocity dual-closed-loop control strategy, and determine the controller parameters through simulation analysis of the control system. A comprehensive experiment is carried out to install the STSP on the swing platform; simulate the actual operating environment, verify the rationality and dynamic accuracy of the kinematic model, dynamic model, and control strategy; and verify the feasibility and stability of the system control scheme and platform configuration.
{"title":"Modeling and control system experiment of a novel series three-axis stable platform","authors":"Da Song, Xinlei Xiao, Ji Ma, Lixun Zhang","doi":"10.5194/ms-15-209-2024","DOIUrl":"https://doi.org/10.5194/ms-15-209-2024","url":null,"abstract":"Abstract. In this paper, a novel series three-axis stable platform (STSP) is proposed, and its azimuth angle structure, pitch angle structure, roll angle structure, overall system structure scheme, and control scheme are designed. The platform is a universal one. The forward and inverse kinematics and dynamics models of the STSP pitch-and-roll mechanisms are established, and the motion rules of the platform and the force conditions of the main components are analyzed. Establish a mathematical model of the platform control system, analyze the performance of the pitch-and-roll system of the STSP, propose a position velocity dual-closed-loop control strategy, and determine the controller parameters through simulation analysis of the control system. A comprehensive experiment is carried out to install the STSP on the swing platform; simulate the actual operating environment, verify the rationality and dynamic accuracy of the kinematic model, dynamic model, and control strategy; and verify the feasibility and stability of the system control scheme and platform configuration.\u0000","PeriodicalId":502917,"journal":{"name":"Mechanical Sciences","volume":" 9","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140218074","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Yushuai Fan, Xun Li, Xin Liu, Shuo Cheng, Xiaohua Wang
Abstract. A systematic improvement of the multi-robot formation control algorithm has been developed to address multi-robot formation instability. First, a static obstacle avoidance model based on spring force mapping is proposed, followed by an analysis of the influence of static and dynamic obstacles on the processing of multi-robot cooperative motion. Second, a leader is introduced to the formation to save computational costs. Third, the Velocity Obstacle (VO) algorithm is improved to resolve robot collisions during the dynamic mobility process caused by the increased number of multi-robot formations. Simultaneously, the dynamic speed limit function based on the position error for formation keeping is established. Finally, simulation experiments are carried out. Results show that when 5-robot and 20-robot formations were compared in the environment without dynamic conflict, the average value of the position error of 20-robot formations only increased by 39.47 %, and the average value of the path length did not differ significantly. In the dynamic conflict environment, the maximum position error of 20-robot formations increases by 73.03 % and the path length average value increases by 7.69 %. Our proposed method can control the motion of multiple robots in both conflict-free and conflict-filled environments, resulting in an effective motion planning scheme.
{"title":"Multi-robot consensus formation based on virtual spring obstacle avoidance","authors":"Yushuai Fan, Xun Li, Xin Liu, Shuo Cheng, Xiaohua Wang","doi":"10.5194/ms-15-195-2024","DOIUrl":"https://doi.org/10.5194/ms-15-195-2024","url":null,"abstract":"Abstract. A systematic improvement of the multi-robot formation control algorithm has been developed to address multi-robot formation instability. First, a static obstacle avoidance model based on spring force mapping is proposed, followed by an analysis of the influence of static and dynamic obstacles on the processing of multi-robot cooperative motion. Second, a leader is introduced to the formation to save computational costs. Third, the Velocity Obstacle (VO) algorithm is improved to resolve robot collisions during the dynamic mobility process caused by the increased number of multi-robot formations. Simultaneously, the dynamic speed limit function based on the position error for formation keeping is established. Finally, simulation experiments are carried out. Results show that when 5-robot and 20-robot formations were compared in the environment without dynamic conflict, the average value of the position error of 20-robot formations only increased by 39.47 %, and the average value of the path length did not differ significantly. In the dynamic conflict environment, the maximum position error of 20-robot formations increases by 73.03 % and the path length average value increases by 7.69 %. Our proposed method can control the motion of multiple robots in both conflict-free and conflict-filled environments, resulting in an effective motion planning scheme.\u0000","PeriodicalId":502917,"journal":{"name":"Mechanical Sciences","volume":" 19","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140216335","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract. This paper proposes an optimization method for the Equality Set Projection algorithm to compute the orthogonal projection of polytopes. However, its computational burden significantly increases for the case of dual degeneracy, which limits the application of the algorithm. Two improvements have been proposed to solve this problem for the Equality Set Projection algorithm: first, a new criterion that does not require a discussion of the uniqueness of the solution in linear programming, which simplifies the algorithm process and reduces the computational cost; and second, an improved method that abandons the calculation of a ridge's equality set to reduce the computational burden in the case of high-dimensional dual degeneracy.
{"title":"Improved strategies of the Equality Set Projection (ESP) algorithm for computing polytope projection","authors":"Binbin Pei, Wenfeng Xu, Yinghui Li","doi":"10.5194/ms-15-183-2024","DOIUrl":"https://doi.org/10.5194/ms-15-183-2024","url":null,"abstract":"Abstract. This paper proposes an optimization method for the Equality Set Projection algorithm to compute the orthogonal projection of polytopes. However, its computational burden significantly increases for the case of dual degeneracy, which limits the application of the algorithm. Two improvements have been proposed to solve this problem for the Equality Set Projection algorithm: first, a new criterion that does not require a discussion of the uniqueness of the solution in linear programming, which simplifies the algorithm process and reduces the computational cost; and second, an improved method that abandons the calculation of a ridge's equality set to reduce the computational burden in the case of high-dimensional dual degeneracy.\u0000","PeriodicalId":502917,"journal":{"name":"Mechanical Sciences","volume":"12 s2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140230619","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract. As a non-tree multi-body system, the dynamics model of four-bar mechanism is a differential algebraic equation. The constraints breach problem leads to many problems for computation accuracy and efficiency. With the traditional method, constructing an ODE-type dynamics equation for it is difficult or impossible. In this exploration, the dynamics model is built with geometry mechanic theory. The kinematic constraint variation relation of a closed-loop system is built in matrix and vector space with Lie group and Lie algebra theory respectively. The results indicate that the attitude variation between the driven body and the follower body has a linear recursion relation, which is the basis for dynamics modelling. With the Lie group variational integrator method, the closed-loop system Lagrangian dynamics model is built in vector space, with Legendre transformation. The dynamics model is reduced to be the Hamilton type. The kinematic model and dynamics model are solved using Newton iteration and the Runge–Kutta method respectively. As a special case of a crank and rocker mechanism, the dynamics character of a parallelogram mechanism is presented to verify the good structure conservation character of the closed-loop geometry dynamics model.
{"title":"A Lie group variational integrator in a closed-loop vector space without a multiplier","authors":"Long Bai, Lili Xia, Xinsheng Ge","doi":"10.5194/ms-15-169-2024","DOIUrl":"https://doi.org/10.5194/ms-15-169-2024","url":null,"abstract":"Abstract. As a non-tree multi-body system, the dynamics model of four-bar mechanism is a differential algebraic equation. The constraints breach problem leads to many problems for computation accuracy and efficiency. With the traditional method, constructing an ODE-type dynamics equation for it is difficult or impossible. In this exploration, the dynamics model is built with geometry mechanic theory. The kinematic constraint variation relation of a closed-loop system is built in matrix and vector space with Lie group and Lie algebra theory respectively. The results indicate that the attitude variation between the driven body and the follower body has a linear recursion relation, which is the basis for dynamics modelling. With the Lie group variational integrator method, the closed-loop system Lagrangian dynamics model is built in vector space, with Legendre transformation. The dynamics model is reduced to be the Hamilton type. The kinematic model and dynamics model are solved using Newton iteration and the Runge–Kutta method respectively. As a special case of a crank and rocker mechanism, the dynamics character of a parallelogram mechanism is presented to verify the good structure conservation character of the closed-loop geometry dynamics model.\u0000","PeriodicalId":502917,"journal":{"name":"Mechanical Sciences","volume":"53 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140248489","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Jinhang Wang, Lairong Yin, Ronghua Du, Long Huang, Juan Huang
Abstract. A rope-climbing robot (RCR) can reciprocate on a rope. To address the problems of poor load capacity and adaptability of the existing RCR, this study designs a dual-rope crawler type RCR, which can be used as a new type of transportation equipment in hilly, mountainous, and plateau areas. The crawler rope-climbing mechanism is a combination of a chain drive and the rope-climbing foot. Innovatively applying the parabolic theory of overhead rope to kinematically analyze the rope-climbing robot system, the robot motion trajectory model and the tilt angle equation are established. To establish the safe working interval of the rope-climbing robot, the influence of machine load and rope span on robot tilt angle is compared. Furthermore, research on the dynamic characteristics of the rope-climbing robot is carried out, establishing a time-varying system model of the dynamic tension of the rope in the rope-climbing robot system and analyzing the effects of speed and load on the dynamic tension of the rope and system stability. Finally, the prototype test results show that the RCR operates stably and has good load capacity and barrier-crossing capability.
{"title":"Design and analysis of a dual-rope crawler rope-climbing robot","authors":"Jinhang Wang, Lairong Yin, Ronghua Du, Long Huang, Juan Huang","doi":"10.5194/ms-15-31-2024","DOIUrl":"https://doi.org/10.5194/ms-15-31-2024","url":null,"abstract":"Abstract. A rope-climbing robot (RCR) can reciprocate on a rope. To address the problems of poor load capacity and adaptability of the existing RCR, this study designs a dual-rope crawler type RCR, which can be used as a new type of transportation equipment in hilly, mountainous, and plateau areas. The crawler rope-climbing mechanism is a combination of a chain drive and the rope-climbing foot. Innovatively applying the parabolic theory of overhead rope to kinematically analyze the rope-climbing robot system, the robot motion trajectory model and the tilt angle equation are established. To establish the safe working interval of the rope-climbing robot, the influence of machine load and rope span on robot tilt angle is compared. Furthermore, research on the dynamic characteristics of the rope-climbing robot is carried out, establishing a time-varying system model of the dynamic tension of the rope in the rope-climbing robot system and analyzing the effects of speed and load on the dynamic tension of the rope and system stability. Finally, the prototype test results show that the RCR operates stably and has good load capacity and barrier-crossing capability.\u0000","PeriodicalId":502917,"journal":{"name":"Mechanical Sciences","volume":"103 22","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139605837","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Bin Tang, Zhengying Yang, Haobin Jiang, Zi-ying Hu
Abstract. In urban traffic, accurate prediction of pedestrian trajectory and advanced collision avoidance strategy can effectively reduce the collision risk between intelligent vehicles and pedestrians. In order to improve the prediction accuracy of pedestrian trajectory and the safety of collision avoidance, a longitudinal and lateral intelligent collision avoidance strategy based on pedestrian trajectory prediction is proposed. Firstly, the process of a pedestrian crossing the road is considered as a combination of free motion described by first-order Markov model and the constrained motion presented by improved social force model. The predicted pedestrian trajectory is obtained by weighted fusion of the trajectories of the two models with a multiple linear regression algorithm. Secondly, according to the predicted pedestrian trajectory and time to collision (TTC) the longitudinal and lateral collision avoidance strategy is designed. The improved artificial potential field method is used to plan the lateral collision avoidance path in real time based on the predicted pedestrian position, and a fuzzy controller is constructed to obtain the desired deceleration of the vehicle. Finally, the pedestrian motion fusion model and the longitudinal and lateral collision avoidance strategy are verified by Prescan and Simulink co-simulation. The results show that the average displacement error (ADE) and final displacement error (FDE) of pedestrian trajectory based on pedestrian motion fusion model are smaller compared with a Markov model and improved social force model, and the proposed pedestrian collision avoidance strategy can effectively achieve longitudinal and lateral collision avoidance.
{"title":"Development of pedestrian collision avoidance strategy based on the fusion of Markov and social force models","authors":"Bin Tang, Zhengying Yang, Haobin Jiang, Zi-ying Hu","doi":"10.5194/ms-15-17-2024","DOIUrl":"https://doi.org/10.5194/ms-15-17-2024","url":null,"abstract":"Abstract. In urban traffic, accurate prediction of pedestrian trajectory and advanced collision avoidance strategy can effectively reduce the collision risk between intelligent vehicles and pedestrians. In order to improve the prediction accuracy of pedestrian trajectory and the safety of collision avoidance, a longitudinal and lateral intelligent collision avoidance strategy based on pedestrian trajectory prediction is proposed. Firstly, the process of a pedestrian crossing the road is considered as a combination of free motion described by first-order Markov model and the constrained motion presented by improved social force model. The predicted pedestrian trajectory is obtained by weighted fusion of the trajectories of the two models with a multiple linear regression algorithm. Secondly, according to the predicted pedestrian trajectory and time to collision (TTC) the longitudinal and lateral collision avoidance strategy is designed. The improved artificial potential field method is used to plan the lateral collision avoidance path in real time based on the predicted pedestrian position, and a fuzzy controller is constructed to obtain the desired deceleration of the vehicle. Finally, the pedestrian motion fusion model and the longitudinal and lateral collision avoidance strategy are verified by Prescan and Simulink co-simulation. The results show that the average displacement error (ADE) and final displacement error (FDE) of pedestrian trajectory based on pedestrian motion fusion model are smaller compared with a Markov model and improved social force model, and the proposed pedestrian collision avoidance strategy can effectively achieve longitudinal and lateral collision avoidance.\u0000","PeriodicalId":502917,"journal":{"name":"Mechanical Sciences","volume":"124 51","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139615188","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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